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<title>Doxygen: pcl::registration::TransformationEstimationPointToPlaneLLS&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::TransformationEstimationPointToPlaneLLS&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html" title="TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...">TransformationEstimationPointToPlaneLLS</a></b> implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals.  
 <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__estimation__point__to__plane__lls_8h_source.html">transformation_estimation_point_to_plane_lls.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimationPointToPlaneLLS&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.png" usemap="#pcl::registration::TransformationEstimationPointToPlaneLLS_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
<tr class="memitem:a97aadd1d7749704bbb83e9354b151ebd"><td class="memItemLeft" align="right" valign="top"><a id="a97aadd1d7749704bbb83e9354b151ebd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a97aadd1d7749704bbb83e9354b151ebd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8636bb38f19b5c1e7b37ed9621123ca0"><td class="memItemLeft" align="right" valign="top"><a id="a8636bb38f19b5c1e7b37ed9621123ca0"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a0f66f2aa2528481532e0dc8c31fcfe36"><td class="memItemLeft" align="right" valign="top"><a id="a0f66f2aa2528481532e0dc8c31fcfe36"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a0f66f2aa2528481532e0dc8c31fcfe36"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a5e5af204000fd2ca1490b6cae58d1695 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a5e5af204000fd2ca1490b6cae58d1695"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a40da6e9eee5c19b151bd4fa8ffa25629"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a40da6e9eee5c19b151bd4fa8ffa25629"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">更多...</a><br /></td></tr>
<tr class="separator:a40da6e9eee5c19b151bd4fa8ffa25629"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55534ccba0b0ea128ed556b8c32b3d51"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a55534ccba0b0ea128ed556b8c32b3d51">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a55534ccba0b0ea128ed556b8c32b3d51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a55534ccba0b0ea128ed556b8c32b3d51">更多...</a><br /></td></tr>
<tr class="separator:a55534ccba0b0ea128ed556b8c32b3d51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a13f0cd08e83d4ecd1c938c545ea21f9f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a13f0cd08e83d4ecd1c938c545ea21f9f">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a13f0cd08e83d4ecd1c938c545ea21f9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a13f0cd08e83d4ecd1c938c545ea21f9f">更多...</a><br /></td></tr>
<tr class="separator:a13f0cd08e83d4ecd1c938c545ea21f9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5062a52149b5b38aa0ea623249849e6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ab5062a52149b5b38aa0ea623249849e6">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ab5062a52149b5b38aa0ea623249849e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ab5062a52149b5b38aa0ea623249849e6">更多...</a><br /></td></tr>
<tr class="separator:ab5062a52149b5b38aa0ea623249849e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
<tr class="separator:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
<tr class="separator:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
<tr class="separator:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a8e25e4059cc1264ba5116f5888d3ac1d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a8e25e4059cc1264ba5116f5888d3ac1d">estimateRigidTransformation</a> (<a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;source_it, <a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;target_it, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a8e25e4059cc1264ba5116f5888d3ac1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a8e25e4059cc1264ba5116f5888d3ac1d">更多...</a><br /></td></tr>
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<tr class="memitem:ae06cffe5637eae4b67709f02c134dd1b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ae06cffe5637eae4b67709f02c134dd1b">constructTransformationMatrix</a> (const double &amp;alpha, const double &amp;beta, const double &amp;gamma, const double &amp;tx, const double &amp;ty, const double &amp;tz, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ae06cffe5637eae4b67709f02c134dd1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a 4 by 4 tranformation matrix from the provided rotation and translation.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ae06cffe5637eae4b67709f02c134dd1b">更多...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimationPointToPlaneLLS&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html" title="TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...">TransformationEstimationPointToPlaneLLS</a></b> implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals. </p>
<p>For additional details, see "Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration", Kok-Lim Low, 2004</p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Michael Dixon </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ae06cffe5637eae4b67709f02c134dd1b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae06cffe5637eae4b67709f02c134dd1b">&#9670;&nbsp;</a></span>constructTransformationMatrix()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::constructTransformationMatrix </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>alpha</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>beta</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>gamma</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>tx</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>ty</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>tz</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Construct a 4 by 4 tranformation matrix from the provided rotation and translation. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">alpha</td><td>the rotation about the x-axis </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">beta</td><td>the rotation about the y-axis </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">gamma</td><td>the rotation about the z-axis </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tx</td><td>the x translation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">ty</td><td>the y translation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tz</td><td>the z translation </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// Construct the transformation matrix from rotation and translation </span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  transformation_matrix = Eigen::Matrix&lt;Scalar, 4, 4&gt;::Zero ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  transformation_matrix (0, 0) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( cos (gamma) * cos (beta));</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  transformation_matrix (0, 1) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (-sin (gamma) * cos (alpha) + cos (gamma) * sin (beta) * sin (alpha));</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  transformation_matrix (0, 2) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( sin (gamma) * sin (alpha) + cos (gamma) * sin (beta) * cos (alpha));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  transformation_matrix (1, 0) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( sin (gamma) * cos (beta));</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  transformation_matrix (1, 1) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( cos (gamma) * cos (alpha) + sin (gamma) * sin (beta) * sin (alpha));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  transformation_matrix (1, 2) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (-cos (gamma) * sin (alpha) + sin (gamma) * sin (beta) * cos (alpha));</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  transformation_matrix (2, 0) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (-sin (beta));</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  transformation_matrix (2, 1) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( cos (beta) * sin (alpha));</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  transformation_matrix (2, 2) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> ( cos (beta) * cos (alpha));</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  transformation_matrix (0, 3) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (tx);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  transformation_matrix (1, 3) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (ty);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  transformation_matrix (2, 3) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (tz);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  transformation_matrix (3, 3) = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (1);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab5062a52149b5b38aa0ea623249849e6">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/5]</span></h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
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          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;{</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, correspondences, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, correspondences, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s_html_a40da6e9eee5c19b151bd4fa8ffa25629"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">pcl::registration::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_lls.hpp:47</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a40da6e9eee5c19b151bd4fa8ffa25629">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/5]</span></h2>

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<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">size_t</span> nr_points = cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != nr_points)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, nr_points, cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);  </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a13f0cd08e83d4ecd1c938c545ea21f9f">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/5]</span></h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">size_t</span> nr_points = indices_src.size ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">if</span> (indices_tgt.size () != nr_points)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, indices_tgt);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);  </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a55534ccba0b0ea128ed556b8c32b3d51">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using SVD. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">size_t</span> nr_points = indices_src.size ();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != nr_points)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#a40da6e9eee5c19b151bd4fa8ffa25629">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);  </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
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<a id="a8e25e4059cc1264ba5116f5888d3ac1d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e25e4059cc1264ba5116f5888d3ac1d">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[5/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>source_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>target_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">source_it</td><td>an iterator over the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_it</td><td>an iterator over the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;{</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 6, 1&gt; Vector6d;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 6, 6&gt; Matrix6d;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  Matrix6d ATA;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  Vector6d ATb;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  ATA.setZero ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  ATb.setZero ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="comment">// Approximate as a linear least squares problem</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">while</span> (source_it.isValid () &amp;&amp; target_it.isValid ())</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (source_it-&gt;x) ||</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        !pcl_isfinite (source_it-&gt;y) ||</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        !pcl_isfinite (source_it-&gt;z) ||</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        !pcl_isfinite (target_it-&gt;x) ||</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        !pcl_isfinite (target_it-&gt;y) ||</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        !pcl_isfinite (target_it-&gt;z) ||</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        !pcl_isfinite (target_it-&gt;normal_x) ||</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        !pcl_isfinite (target_it-&gt;normal_y) ||</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        !pcl_isfinite (target_it-&gt;normal_z))</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      ++target_it;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      ++source_it;    </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; sx = source_it-&gt;x;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; sy = source_it-&gt;y;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; sz = source_it-&gt;z;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; dx = target_it-&gt;x;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; dy = target_it-&gt;y;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; dz = target_it-&gt;z;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; nx = target_it-&gt;normal[0];</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; ny = target_it-&gt;normal[1];</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; nz = target_it-&gt;normal[2];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">double</span> a = nz*sy - ny*sz;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">double</span> b = nx*sz - nz*sx; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">double</span> c = ny*sx - nx*sy;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;   </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">//    0  1  2  3  4  5</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="comment">//    6  7  8  9 10 11</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="comment">//   12 13 14 15 16 17</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">//   18 19 20 21 22 23</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="comment">//   24 25 26 27 28 29</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">//   30 31 32 33 34 35</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;   </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    ATA.coeffRef (0) += a * a;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    ATA.coeffRef (1) += a * b;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    ATA.coeffRef (2) += a * c;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    ATA.coeffRef (3) += a * nx;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    ATA.coeffRef (4) += a * ny;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    ATA.coeffRef (5) += a * nz;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    ATA.coeffRef (7) += b * b;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    ATA.coeffRef (8) += b * c;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    ATA.coeffRef (9) += b * nx;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    ATA.coeffRef (10) += b * ny;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    ATA.coeffRef (11) += b * nz;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    ATA.coeffRef (14) += c * c;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    ATA.coeffRef (15) += c * nx;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    ATA.coeffRef (16) += c * ny;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    ATA.coeffRef (17) += c * nz;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    ATA.coeffRef (21) += nx * nx;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    ATA.coeffRef (22) += nx * ny;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    ATA.coeffRef (23) += nx * nz;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    ATA.coeffRef (28) += ny * ny;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    ATA.coeffRef (29) += ny * nz;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    ATA.coeffRef (35) += nz * nz;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordtype">double</span> d = nx*dx + ny*dy + nz*dz - nx*sx - ny*sy - nz*sz;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    ATb.coeffRef (0) += a * d;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    ATb.coeffRef (1) += b * d;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    ATb.coeffRef (2) += c * d;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    ATb.coeffRef (3) += nx * d;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    ATb.coeffRef (4) += ny * d;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    ATb.coeffRef (5) += nz * d;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    ++target_it;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    ++source_it;    </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  ATA.coeffRef (6) = ATA.coeff (1);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  ATA.coeffRef (12) = ATA.coeff (2);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  ATA.coeffRef (13) = ATA.coeff (8);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  ATA.coeffRef (18) = ATA.coeff (3);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  ATA.coeffRef (19) = ATA.coeff (9);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  ATA.coeffRef (20) = ATA.coeff (15);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  ATA.coeffRef (24) = ATA.coeff (4);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  ATA.coeffRef (25) = ATA.coeff (10);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  ATA.coeffRef (26) = ATA.coeff (16);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  ATA.coeffRef (27) = ATA.coeff (22);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  ATA.coeffRef (30) = ATA.coeff (5);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  ATA.coeffRef (31) = ATA.coeff (11);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  ATA.coeffRef (32) = ATA.coeff (17);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  ATA.coeffRef (33) = ATA.coeff (23);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  ATA.coeffRef (34) = ATA.coeff (29);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// Solve A*x = b</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  Vector6d x = <span class="keyword">static_cast&lt;</span>Vector6d<span class="keyword">&gt;</span> (ATA.inverse () * ATb);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="comment">// Construct the transformation matrix from x</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ae06cffe5637eae4b67709f02c134dd1b">constructTransformationMatrix</a> (x (0), x (1), x (2), x (3), x (4), x (5), transformation_matrix);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s_html_ae06cffe5637eae4b67709f02c134dd1b"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html#ae06cffe5637eae4b67709f02c134dd1b">pcl::registration::TransformationEstimationPointToPlaneLLS::constructTransformationMatrix</a></div><div class="ttdeci">void constructTransformationMatrix(const double &amp;alpha, const double &amp;beta, const double &amp;gamma, const double &amp;tx, const double &amp;ty, const double &amp;tz, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Construct a 4 by 4 tranformation matrix from the provided rotation and translation.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_lls.hpp:121</div></div>
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